def aparam_set_mission(self, yaml_filename):
"""
Specifies mission to be executed.
@param yaml_filename Mission definition
"""
log.debug('[mm] aparam_set_mission: yaml_filename=%s', yaml_filename)
mission_loader = MissionLoader()
mission_loader.load_mission_file(yaml_filename)
self._agent.aparam_mission = mission_loader.mission_entries
log.debug('[mm] aparam_set_mission: _ia_clients=\n%s',
self._agent._pp.pformat(self._agent._ia_clients))
# get instrument IDs and clients for the valid running instruments:
instruments = {}
for (instrument_id, obj) in self._agent._ia_clients.iteritems():
if isinstance(obj, dict):
# it's valid instrument.
if instrument_id != obj.resource_id:
log.error('[mm] aparam_set_mission: instrument_id=%s, '
'resource_id=%s', instrument_id, obj.resource_id)
instruments[obj.resource_id] = obj.ia_client
self.mission_scheduler = MissionScheduler(self._agent,
instruments,
self._agent.aparam_mission)
log.debug('[mm] aparam_set_mission: MissionScheduler created. entries=%s',
self._agent.aparam_mission)
def test_simple_simulator_mission(self):
"""
Test the RSN OMS platform simulator with the SBE37_SIM instruments
"""
filename = "ion/agents/platform/test/mission_RSN_simulator1.yml"
self.load_mission(yaml_filename=filename)
log.debug('mission_entries=%s', self.mission.mission_entries)
self.setup_platform_simulator_and_instruments()
# Start Mission Scheduer
self.missionSchedule = MissionScheduler(self._pa_client,
self._instruments,
self.mission.mission_entries)
self.missionSchedule.run_mission()
def test_simple_simulator_mission(self):
"""
Test the RSN OMS platform simulator with the SBE37_SIM instruments
"""
filename = "ion/agents/platform/test/mission_RSN_simulator1.yml"
self.load_mission(yaml_filename=filename)
log.debug('mission_entries=%s', self.mission.mission_entries)
self.setup_platform_simulator_and_instruments()
# Start Mission Scheduer
self.missionSchedule = MissionScheduler(self._pa_client, self._instruments, self.mission.mission_entries)
self.missionSchedule.run_mission()
def test_shallow_profiler_mission(self):
"""
Test the Shallow Water Profiler mission
"""
filename = 'ion/agents/platform/test/mission_ShallowProfiler_simulated.yml'
self.load_mission(yaml_filename=filename)
# Setup the platform and instruments
self.setup_platform_simulator_and_instruments()
# Start Mission Scheduer
self.missionSchedule = MissionScheduler(self._pa_client,
self._instruments,
self.mission.mission_entries)
# Start profiler event simulator and mission scheduler
self.threads = []
self.threads.append(gevent.spawn(self.missionSchedule.run_mission))
# self.threads.append(gevent.spawn_later(30, SimulateShallowWaterProfilerEvents()))
self.threads.append(
gevent.spawn_later(120, self.simulate_profiler_events,
'stair_step'))
gevent.joinall(self.threads)
def test_shallow_profiler_mission(self):
"""
Test the Shallow Water Profiler mission
"""
filename = 'ion/agents/platform/test/mission_ShallowProfiler_simulated.yml'
self.load_mission(yaml_filename=filename)
# Setup the platform and instruments
self.setup_platform_simulator_and_instruments()
# Start Mission Scheduer
self.missionSchedule = MissionScheduler(self._pa_client, self._instruments, self.mission.mission_entries)
# Start profiler event simulator and mission scheduler
self.threads = []
self.threads.append(gevent.spawn(self.missionSchedule.run_mission))
# self.threads.append(gevent.spawn_later(30, SimulateShallowWaterProfilerEvents()))
self.threads.append(gevent.spawn_later(120, self.simulate_profiler_events, 'stair_step'))
gevent.joinall(self.threads)
class MissionManager(object):
"""
Coordinating class for integration of mission execution with platform agent.
"""
def __init__(self, pa):
"""
@param pa The associated platform agent object to access the
elements handled by this helper.
"""
self._agent = pa
self._platform_id = pa._platform_id
self._agent.aparam_mission = []
self._agent.aparam_set_mission = self.aparam_set_mission
# TODO confirm appropriate mechanism to indicate mission to the agent
def aparam_set_mission(self, yaml_filename):
"""
Specifies mission to be executed.
@param yaml_filename Mission definition
"""
log.debug('[mm] aparam_set_mission: yaml_filename=%s', yaml_filename)
mission_loader = MissionLoader()
mission_loader.load_mission_file(yaml_filename)
self._agent.aparam_mission = mission_loader.mission_entries
log.debug('[mm] aparam_set_mission: _ia_clients=\n%s',
self._agent._pp.pformat(self._agent._ia_clients))
# get instrument IDs and clients for the valid running instruments:
instruments = {}
for (instrument_id, obj) in self._agent._ia_clients.iteritems():
if isinstance(obj, dict):
# it's valid instrument.
if instrument_id != obj.resource_id:
log.error('[mm] aparam_set_mission: instrument_id=%s, '
'resource_id=%s', instrument_id, obj.resource_id)
instruments[obj.resource_id] = obj.ia_client
self.mission_scheduler = MissionScheduler(self._agent,
instruments,
self._agent.aparam_mission)
log.debug('[mm] aparam_set_mission: MissionScheduler created. entries=%s',
self._agent.aparam_mission)
# TODO appropriate way to handle potential errors/exceptions in
# methods below. Very ad hoc for the moment.
def run_mission(self):
try:
self.mission_scheduler.run_mission()
return None
except Exception as ex:
log.exception('[mm] run_mission')
return ex
def abort_mission(self):
try:
self.mission_scheduler.abort_mission()
return None
except Exception as ex:
log.exception('[mm] abort_mission')
return ex
def kill_mission(self):
try:
self.mission_scheduler.kill_mission()
return None
except Exception as ex:
log.exception('[mm] kill_mission')
return ex
class TestSimpleMission(BaseIntTestPlatform, PyonTestCase):
"""
Test cases for the RSN OMS simulator, which is instantiated directly (ie.,
no connection to external simulator is involved).
"""
def _run_shutdown_commands(self, recursion=True):
try:
self._go_inactive(recursion)
self._reset(recursion)
finally: # attempt shutdown anyway
self._shutdown(True) # NOTE: shutdown always with recursion=True
def setup_platform_simulator_and_instruments(self):
self._set_receive_timeout()
# Create a platform in the test environment
p_root = self._create_single_platform()
# Create instruments and assign to platform
for mission in self.mission.mission_entries:
for instrument_id in mission['instrument_id']:
# create only if not already created:
if instrument_id not in self._setup_instruments:
i_obj = self._create_instrument(instrument_id, start_port_agent=True)
self._assign_instrument_to_platform(i_obj, p_root)
# Start the platform
self._start_platform(p_root)
self.addCleanup(self._stop_platform, p_root)
# self.addCleanup(self._run_shutdown_commands)
self._instruments = {}
self._instruments.update({self.PLATFORM_ID: self._pa_client})
# Now get instrument clients for each instrument
for mission in self.mission.mission_entries:
for instrument_id in mission['instrument_id']:
instrument_device_id = self._setup_instruments[instrument_id]['instrument_device_id']
# Start a resource agent client to talk with each instrument agent.
ia_client = ResourceAgentClient(instrument_device_id, process=FakeProcess())
# make a dictionary storing the instrument ids and client objects
self._instruments.update({instrument_id: ia_client})
def get_mission_attachment(self, filename):
"""
Treat the mission file as if it were a platform attachment
"""
# read the file
with open(filename, 'r') as rfile:
content = rfile.read()
# make an attachment
attachment = IonObject(RT.Attachment,
name="Example mission",
description="Mission File",
content=content,
content_type="text/yml",
keywords=["mission"],
attachment_type=AttachmentType.ASCII)
# Create a platform in the test environment
p_root = self._create_single_platform()
self.RR2.create_attachment(p_root['platform_device_id'], attachment)
attachments, _ = self.RR.find_objects(p_root['platform_device_id'], PRED.hasAttachment, RT.Attachment, True)
self.assertEqual(len(attachments), 1)
a = self.RR.read_attachment(attachments[0], include_content=True)
# Write contents of attached mission file to temp yaml file
temp_file = 'temp_mission.yml'
with open(temp_file, 'w') as wfile:
wfile.write(a.content)
self.load_mission(yaml_filename=temp_file)
if os.path.isfile(temp_file):
os.remove(temp_file)
return p_root
def simulate_profiler_events(self, profile_type):
"""
Simulate the Shallow Water profiler stair step mission
"""
event_publisher = EventPublisher(event_type="ResourceAgentResourceStateEvent")
profiler_resource_id = 'FakeID'
num_profiles = 2
def profiler_event_state_change(state, sleep_duration):
"""
Publish the state change event
@param state the state entered by the driver.
@param sleep_duration seconds to sleep for after event
"""
# Create event publisher.
event_data = {'state': state}
event_publisher.publish_event(event_type='ResourceAgentResourceStateEvent',
origin=profiler_resource_id,
**event_data)
gevent.sleep(sleep_duration)
def stair_step_simulator():
# Let's simulate a profiler stair step scenario
seconds_between_steps = 60
num_steps = 2
# Start Mission
profiler_event_state_change('StartMission', 1)
# Going up
profiler_event_state_change('StartingAscent', seconds_between_steps)
for x in range(num_profiles):
# Step up
for down in range(num_steps):
profiler_event_state_change('atStep', seconds_between_steps)
profiler_event_state_change('StartingUp', 1)
# Ascend to ceiling
profiler_event_state_change('atCeiling', seconds_between_steps)
# Start to descend
profiler_event_state_change('StartingDescent', seconds_between_steps)
# Arrive at floor
profiler_event_state_change('atFloor', seconds_between_steps)
profiler_event_state_change('MissionComplete', 1)
def up_down_simulator():
# Let's simulate a profiler up-down scenario
seconds_between_steps = 5 * 60
# Start Mission
profiler_event_state_change('StartMission', 1)
# Start ascent
profiler_event_state_change('StartingAscent', seconds_between_steps)
for x in range(num_profiles):
# Ascend to ceiling
profiler_event_state_change('atCeiling', seconds_between_steps)
# Start to descend
profiler_event_state_change('StartingDescent', seconds_between_steps)
# Arrive at floor
profiler_event_state_change('atFloor', seconds_between_steps)
profiler_event_state_change('MissionComplete', 1)
def simulator_error():
# Let's simulate a profiler up-down scenario
seconds_between_steps = 60
# Start Mission
profiler_event_state_change('StartMission', 1)
# Start ascent
profiler_event_state_change('StartingAscent', seconds_between_steps)
# Ascend to ceiling
profiler_event_state_change('atCeiling', seconds_between_steps)
profiler_event_state_change('systemError', 1)
if profile_type == 'stair_step':
stair_step_simulator()
else:
up_down_simulator()
def load_mission(self, yaml_filename='ion/agents/platform/test/mission_RSN_simulator1.yml'):
"""
Load and parse the mission file
"""
self.mission = MissionLoader(self._pa_client)
self.mission.load_mission_file(yaml_filename)
@skip("Deprecated... Use test_mission_manager instead")
def test_simple_simulator_mission(self):
"""
Test the RSN OMS platform simulator with the SBE37_SIM instruments
"""
filename = "ion/agents/platform/test/mission_RSN_simulator1.yml"
self.load_mission(yaml_filename=filename)
log.debug('mission_entries=%s', self.mission.mission_entries)
self.setup_platform_simulator_and_instruments()
# Start Mission Scheduer
self.missionSchedule = MissionScheduler(self._pa_client, self._instruments, self.mission.mission_entries)
self.missionSchedule.run_mission()
@skip("Work in progress...")
def test_shallow_profiler_mission(self):
"""
Test the Shallow Water Profiler mission
"""
filename = 'ion/agents/platform/test/mission_ShallowProfiler.yml'
self.load_mission(yaml_filename=filename)
# Setup the platform and instruments
self.setup_platform_simulator_and_instruments()
# Start profiler event simulator and mission scheduler
self.threads = []
self.threads.append(gevent.spawn(
MissionScheduler, self._pa_client, self._instruments, self.mission.mission_entries))
# self.threads.append(gevent.spawn_later(30, SimulateShallowWaterProfilerEvents()))
self.threads.append(gevent.spawn_later(120, self.simulate_profiler_events, 'stair_step'))
gevent.joinall(self.threads)
def test_simple_simulator_mission(self):
# Dump mission file contents to IonObject
filename = "ion/agents/platform/test/mission_RSN_simulator1.yml"
with open(filename, 'r') as rfile:
content = rfile.read()
# make an attachment
attachment = IonObject(RT.Attachment,
name="Example mission",
description="Mission File",
content=content,
content_type="text/yml",
keywords=["mission"],
attachment_type=AttachmentType.ASCII)
# Create a platform in the test environment
p_root = self._create_single_platform()
self.RR2.create_attachment(p_root['platform_device_id'], attachment)
attachments, _ = self.RR.find_objects(p_root['platform_device_id'],
PRED.hasAttachment,
RT.Attachment, True)
self.assertEqual(len(attachments), 1)
a = self.RR.read_attachment(attachments[0], include_content=True)
# Write contents of attached mission file to temp yaml file
temp_file = 'temp_mission.yml'
with open(temp_file, 'w') as wfile:
wfile.write(a.content)
self.load_mission(yaml_filename=temp_file)
self._set_receive_timeout()
instruments = []
for missionIndex in range(len(self.mission.mission_entries)):
instruments.append(
self.mission.mission_entries[missionIndex]['instrument_id'])
# p_root = self._set_up_single_platform_with_some_instruments(instruments)
# for instr_key in instruments:
# self.assertIn(instr_key, instruments_dict)
# create and assign instruments:
for instr_key in instruments:
# create only if not already created:
if instr_key in self._setup_instruments:
i_obj = self._setup_instruments[instr_key]
else:
i_obj = self._create_instrument(instr_key,
start_port_agent=True)
self._assign_instrument_to_platform(i_obj, p_root)
self._start_platform(p_root)
self.addCleanup(self._stop_platform, p_root)
self.addCleanup(self._run_shutdown_commands)
self.missionSchedule = MissionScheduler(self._pa_client,
self._setup_instruments,
self.mission.mission_entries)
if os.path.isfile(temp_file):
os.remove(temp_file)
def _create_mission_scheduler(self, mission_id, mission_yml):
"""
- loads the mission
- verifies instruments associated
- gets exclusive access to those instruments
- creates MissionScheduler
@param mission_id
@param mission_yml
@return (mission_loader, mission_scheduler, instrument_objs)
@raise Exception if no stable ID is found for an instrument; or
the first exception while requesting exclusive
access to a child instrument (in this case, all other successful
such requests, if any, are reverted).
"""
log.debug('%r: [mm] _create_mission_scheduler: mission_id=%r', self._platform_id, mission_id)
mission_loader = MissionLoader(self._agent)
mission_loader.load_mission(mission_id, mission_yml)
self._mission_entries = mission_loader.mission_entries
if log.isEnabledFor(logging.DEBUG):
log.debug('%r: [mm] _create_mission_scheduler: _ia_clients=\n%s', self._platform_id,
self._agent._pp.pformat(self._agent._ia_clients))
# {stable_id: obj, ...} objects of valid running instruments:
instrument_objs = {}
for (instrument_id, obj) in self._agent._ia_clients.iteritems():
if isinstance(obj, dict): # dict means it's valid instrument.
# get first "PRE:*" ID from obj.alt_ids:
pres = [alt_id for alt_id in obj.alt_ids if alt_id.startswith('PRE:')]
if not pres:
raise Exception('%r: No stable ID found for instrument_id=%r. alt_ids=%s' % (
self._platform_id, instrument_id, obj.alt_ids))
stable_id = pres[0]
log.debug('%r: [mm] _create_mission_scheduler: instrument_id=%r, stable_id=%r,'
' resource_id=%r', self._platform_id, instrument_id, stable_id, obj.resource_id)
instrument_objs[stable_id] = obj
# {stable_id: client, ...} dict for scheduler
instruments_for_scheduler = dict((stable_id, obj.ia_client) for
stable_id, obj in instrument_objs.iteritems())
mission_entries = mission_loader.mission_entries
# get all involved instruments referenced in the mission:
instrument_ids = set()
for mission_entry in mission_entries:
for instrument_id in mission_entry.get('instrument_id', []):
if instrument_id in instrument_objs:
instrument_ids.add(instrument_id)
else:
raise Exception('%r: No stable ID found for instrument_id=%r referenced'
' in mission, mission_id=%r' % (self._platform_id,
instrument_id, mission_id))
# get exclusive access to those instruments. If any one fails,
# rollback and raise that first exception:
instrument_ids_ok = set()
exception = None
for instrument_id in instrument_ids:
resource_id = instrument_objs[instrument_id].resource_id
try:
self._get_exclusive_access(instrument_id, resource_id, mission_id)
instrument_ids_ok.add(instrument_id)
except Exception as ex:
exception = ex
log.warn('%r: [xa] _create_mission_scheduler: exclusive access request to'
' resource_id=%r, instrument_id=%r failed: %s', self._platform_id,
resource_id, instrument_id, exception)
break
if exception:
if len(instrument_ids_ok):
log.warn('%r: [xa] _create_mission_scheduler: reverting exclusive access to the resources: %s',
self._platform_id, instrument_ids_ok)
for instrument_id in instrument_ids_ok:
resource_id = instrument_objs[instrument_id].resource_id
try:
self._remove_exclusive_access(instrument_id, resource_id, mission_id)
except Exception as ex:
# just log warning an continue
log.warn('%r: [xa] exception while reverting exclusive access to resource_id=%r, '
'instrument_id=%r: %s', self._platform_id, resource_id, instrument_id, ex)
raise exception
mission_scheduler = MissionScheduler(self._agent,
instruments_for_scheduler,
mission_entries)
log.debug('%r: [mm] _create_mission_scheduler: MissionScheduler created. entries=%s',
self._platform_id, mission_entries)
return mission_loader, mission_scheduler, instrument_objs
class TestSimpleMission(BaseIntTestPlatform, PyonTestCase):
"""
Test cases for the RSN OMS simulator, which is instantiated directly (ie.,
no connection to external simulator is involved).
"""
def _run_shutdown_commands(self, recursion=True):
try:
self._go_inactive(recursion)
self._reset(recursion)
finally: # attempt shutdown anyway
self._shutdown(True) # NOTE: shutdown always with recursion=True
def setup_platform_simulator_and_instruments(self):
self._set_receive_timeout()
# Create a platform in the test environment
p_root = self._create_single_platform()
# Create instruments and assign to platform
for mission in self.mission.mission_entries:
for instrument_id in mission['instrument_id']:
# create only if not already created:
if instrument_id not in self._setup_instruments:
i_obj = self._create_instrument(instrument_id,
start_port_agent=True)
self._assign_instrument_to_platform(i_obj, p_root)
# Start the platform
self._start_platform(p_root)
self.addCleanup(self._stop_platform, p_root)
# self.addCleanup(self._run_shutdown_commands)
self._instruments = {}
self._instruments.update({self.PLATFORM_ID: self._pa_client})
# Now get instrument clients for each instrument
for mission in self.mission.mission_entries:
for instrument_id in mission['instrument_id']:
instrument_device_id = self._setup_instruments[instrument_id][
'instrument_device_id']
# Start a resource agent client to talk with each instrument agent.
ia_client = ResourceAgentClient(instrument_device_id,
process=FakeProcess())
# make a dictionary storing the instrument ids and client objects
self._instruments.update({instrument_id: ia_client})
def get_mission_attachment(self, filename):
"""
Treat the mission file as if it were a platform attachment
"""
# read the file
with open(filename, 'r') as rfile:
content = rfile.read()
# make an attachment
attachment = IonObject(RT.Attachment,
name="Example mission",
description="Mission File",
content=content,
content_type="text/yml",
keywords=["mission"],
attachment_type=AttachmentType.ASCII)
# Create a platform in the test environment
p_root = self._create_single_platform()
self.RR2.create_attachment(p_root['platform_device_id'], attachment)
attachments, _ = self.RR.find_objects(p_root['platform_device_id'],
PRED.hasAttachment,
RT.Attachment, True)
self.assertEqual(len(attachments), 1)
a = self.RR.read_attachment(attachments[0], include_content=True)
# Write contents of attached mission file to temp yaml file
temp_file = 'temp_mission.yml'
with open(temp_file, 'w') as wfile:
wfile.write(a.content)
self.load_mission(yaml_filename=temp_file)
if os.path.isfile(temp_file):
os.remove(temp_file)
return p_root
def simulate_profiler_events(self, profile_type):
"""
Simulate the Shallow Water profiler stair step mission
"""
event_publisher = EventPublisher(event_type="OMSDeviceStatusEvent")
num_profiles = 2
def profiler_event_state_change(state, sleep_duration):
"""
Publish the state change event
@param state the state entered by the driver.
@param sleep_duration seconds to sleep for after event
"""
# Create event publisher.
event_data = {'sub_type': state}
event_publisher.publish_event(event_type='OMSDeviceStatusEvent',
origin='LJ01D',
**event_data)
gevent.sleep(sleep_duration)
def stair_step_simulator():
# Let's simulate a profiler stair step scenario
seconds_between_steps = 60
num_steps = 2
# Start Mission
profiler_event_state_change('StartMission', 1)
# Going up
profiler_event_state_change('StartingAscent',
seconds_between_steps)
for x in range(num_profiles):
# Step up
for down in range(num_steps):
profiler_event_state_change('atStep',
seconds_between_steps)
profiler_event_state_change('StartingUp', 1)
# Ascend to ceiling
profiler_event_state_change('atCeiling', seconds_between_steps)
# Start to descend
profiler_event_state_change('StartingDescent',
seconds_between_steps)
# Arrive at floor
profiler_event_state_change('atFloor', seconds_between_steps)
profiler_event_state_change('MissionComplete', 1)
def up_down_simulator():
# Let's simulate a profiler up-down scenario
seconds_between_steps = 5 * 60
# Start Mission
profiler_event_state_change('StartMission', 1)
# Start ascent
profiler_event_state_change('StartingAscent',
seconds_between_steps)
for x in range(num_profiles):
# Ascend to ceiling
profiler_event_state_change('atCeiling', seconds_between_steps)
# Start to descend
profiler_event_state_change('StartingDescent',
seconds_between_steps)
# Arrive at floor
profiler_event_state_change('atFloor', seconds_between_steps)
profiler_event_state_change('MissionComplete', 1)
def simulator_error():
# Let's simulate a profiler up-down scenario
seconds_between_steps = 60
# Start Mission
profiler_event_state_change('StartMission', 1)
# Start ascent
profiler_event_state_change('StartingAscent',
seconds_between_steps)
# Ascend to ceiling
profiler_event_state_change('atCeiling', seconds_between_steps)
profiler_event_state_change('systemError', 1)
if profile_type == 'stair_step':
stair_step_simulator()
else:
up_down_simulator()
def load_mission(
self,
yaml_filename='ion/agents/platform/test/mission_RSN_simulator1.yml'
):
"""
Load and parse the mission file
"""
self.mission = MissionLoader('')
self.mission.load_mission_file(yaml_filename)
@skip("Deprecated... Use test_mission_manager instead")
def test_simple_simulator_mission(self):
"""
Test the RSN OMS platform simulator with the SBE37_SIM instruments
"""
filename = "ion/agents/platform/test/mission_RSN_simulator1.yml"
self.load_mission(yaml_filename=filename)
log.debug('mission_entries=%s', self.mission.mission_entries)
self.setup_platform_simulator_and_instruments()
# Start Mission Scheduer
self.missionSchedule = MissionScheduler(self._pa_client,
self._instruments,
self.mission.mission_entries)
self.missionSchedule.run_mission()
@skip("Work in progress...")
def test_shallow_profiler_mission(self):
"""
Test the Shallow Water Profiler mission
"""
filename = 'ion/agents/platform/test/mission_ShallowProfiler_simulated.yml'
self.load_mission(yaml_filename=filename)
# Setup the platform and instruments
self.setup_platform_simulator_and_instruments()
# Start Mission Scheduer
self.missionSchedule = MissionScheduler(self._pa_client,
self._instruments,
self.mission.mission_entries)
# Start profiler event simulator and mission scheduler
self.threads = []
self.threads.append(gevent.spawn(self.missionSchedule.run_mission))
# self.threads.append(gevent.spawn_later(30, SimulateShallowWaterProfilerEvents()))
self.threads.append(
gevent.spawn_later(120, self.simulate_profiler_events,
'stair_step'))
gevent.joinall(self.threads)
